# Untitled - By: wuhuan - 周三 12月 8 2021
dt=0.001#注意：dt的取值为kalman滤波器采样时间
angle=0;angle_dot=0#角度和角速度
P=[[1,0],[0,1]]
Pdot=[0,0,0,0]
Q_angle=0.001#角度数据置信度,角速度数据置信度
Q_gyro=0.005
def Kalman_Filter(angle_m,gyro_m):
    angle+=(gyro_m-q_bias) * dt
    angle_err = angle_m - angle
    Pdot[0]=Q_angle - P[0][1] - P[1][0]
    Pdot[1]=- P[1][1]
    Pdot[2]=- P[1][1]
    Pdot[3]=Q_gyro
    P[0][0] += Pdot[0] * dt
    P[0][1] += Pdot[1] * dt
    P[1][0] += Pdot[2] * dt
    P[1][1] += Pdot[3] * dt
    PCt_0 = C_0 * P[0][0]
    PCt_1 = C_0 * P[1][0]
    E = R_angle + C_0 * PCt_0
    K_0 = PCt_0 / E
    K_1 = PCt_1 / E
    t_0 = PCt_0
    t_1 = C_0 * P[0][1]
    P[0][0] -= K_0 * t_0
    P[0][1] -= K_0 * t_1
    P[1][0] -= K_1 * t_0
    P[1][1] -= K_1 * t_1
    angle += K_0 * angle_err
    q_bias += K_1 * angle_err
    angle_dot = gyro_m-q_bias
    return angle
